Tactile sensor system and method for inspecting the condition of a structure

ABSTRACT

In a computer-implemented method and system for capturing the condition of a structure, the structure is scanned with a three-dimensional (3D) scanner. The 3D contact scanner includes a tactile sensor system having at least one tactile sensor for generating 3D data points based on tactile feedback resulting from physical contact with at least part of the structure. A 3D model is constructed from the 3D data and is then analyzed to determine the condition of the structure.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. application Ser. No.14/833,739, filed Aug. 24, 2015, entitled “Tactile Sensor System andMethod for Inspecting the Condition of a Structure,” which is herebyincorporated by reference for all purposes.

TECHNICAL FIELD

This disclosure relates to property inspection methods and systems, andin particular, to property inspection system and method for capturingand/or estimating the condition of a structure using a tactile sensorsystem.

BACKGROUND

The present disclosure generally relates to a system or method forinspecting a structure to estimate the condition of the structure. Afteran accident or loss, property owners typically file claims with theirinsurance companies. In response to these claims, the insurancecompanies assign an appraiser to investigate the claims to determine theextent of damage and/or loss, document the damage, and provide itsclients with appropriate compensation.

Determining and documenting the extent of damage can be risky for theappraiser. For example, in a situation where a structure has experiencedroof damage, appraisers typically climb onto the roof to evaluate thedamage. Once on the roof they may sketch the damaged area of the roof todocument the damage. Alternatively, appraisers might take a digitalpicture of the damaged area. In either scenario, the appraiser hasexposed himself to a risk of falling. Afterwards, the picture istypically attached to an electronic claim file for future referencewhere it can be analyzed by an appraiser to estimate the extent ofdamage to the structure.

The process for determining and documenting the extent of the damage canbe inefficient and time consuming. In addition to the time required todrive to and from the incident site and to perform the inspectionitself, significant paperwork and calculations may be involved incalculating compensation owed to the clients. For example, after takingpictures of a roof, the appraiser may have to come back to his office,research the client's property, research the cost of the damagedproperty and research repair costs to calculate how much money a clientshould be paid. All of these steps are time consuming and both delaypayment to the client and prevent the appraiser from assessing otherclient claims.

In situations where the insurance company has received a large number ofclaims in a short time period (e.g., when a town is affected by ahurricane, tornado, or other natural disaster), an insurance appraisermay not have time to perform a timely claim investigation of all thereceived claims. If claim investigations are not performed quickly,property owners may not receive recovery for their losses for longperiods of time. Additionally, long time delays when performing claiminvestigations can lead to inaccurate investigations results (e.g., thedelay may lead to increased opportunity for fraud and/or may make itmore difficult to ascertain the extent of damage at the time of theaccident or loss).

Further, two-dimensional digital pictures or video of a roof orstructure often provide inadequate detail for thorough inspection of astructure. Poor image quality resulting from camera movement orout-of-focus images can make it difficult to estimate the condition of aproperty based on an image. Even where image quality is adequate, poorangles or bad lighting may hide or exaggerate details important toestimating the condition of the structure, leading to inaccurateassessments of the structure's condition. In addition, two-dimensionalpictures or video also fail to provide any detail about a subsurface ofthe roof or structure.

Still further, three-dimensional imaging of a roof or structure, such aslaser scanning and ultrasonic scanning, also often provides inadequatedetail for a thorough inspection of a structure. While three-dimensionalimaging can provide some detail about a subsurface of a roof, forexample, three-dimensional imaging is often compromised and inaccuratedue to interfering sunlight during the scan on the roof or otherstructure. In addition, ultrasonic scanning typically requires ajelly-like sound conductor for an adequate scan and problems with properapplication and removal of the jelly-like substance makethree-dimensional ultrasonic scanning more time consuming, messy, andcostly.

SUMMARY

A system and method of inspecting the condition of a structure isdisclosed. In one example, the method of inspecting a structurecomprises deploying one or more three-dimensional (3D) contact scannersto scan a structure, wherein the one or more 3D contact scanners arecommunicatively connected to a memory. The method further comprisedetecting 3D information by implementing a tactile sensor system of theone or more 3D contact scanners across a surface of at least part of thestructure. The tactile sensor system includes at least one tactilesensor, and the at least one tactile sensor includes one or more of apinscreen stamp having a plurality of pins, a roller device having aplurality of disks, or a whisker device having one or more of at leastone whisker and a piezoelectric sensor. Implementing the tactile sensorsystem includes one or more of moving, rolling or dragging the at leastone tactile sensor on a physical surface of at least part of thestructure; and measuring one or more of: (1) resistance to pressurebeing applied to at least one point of a plurality of points on thesurface of at least part of the structure via the at least one tactilesensor; or (2) a depth of at least one point of the plurality of pointson the surface of the at least part of the structure via at least onetactile sensor.

The method further comprises generating, at the one or more 3D contactscanners, a plurality of 3D data points, wherein at least one point ofthe plurality of 3D data points corresponds to at least one point of theplurality of points on the surface of the structure detected by the atleast one tactile sensor. The method further comprises causing aprocessor communicatively connected to the memory to generate anestimation of the condition of the structure based on the plurality ofdata points.

In another example of the present disclosure, a property inspectionsystem for determining the condition of a physical structure comprisesone or more 3D contact scanners adapted to scan a surface of thestructure and at least one tactile sensor system coupled to the one ormore 3D contact scanners. The tactile sensor system may include at leastone tactile sensor having one or more of a pinscreen stamp, a rollerdevice having a plurality of disks, or a whisker device having one ormore of at least one whisker and a piezoelectric sensor. The at leastone tactile sensor is adapted to detect 3D information about the surfaceof the structure by: (1) one or more of moving, rolling, and/or draggingthe at least one sensor of the tactile sensor system on a physicalsurface of the structure; and (2) measuring one or more of: (a)resistance to pressure being applied to at least one point of aplurality of points on the surface of the structure; or (b) a depth ofthe at least one point of the plurality of points on the surface of thestructure. The system further includes one or more processors forgenerating 3D data points corresponding to the 3D information detectedby the tactile sensor system, and a memory communicatively coupled tothe one or more 3D contact scanners. The memory may store the 3D datapoints generated by the one or more processors and the 3D informationdetected by the at least one tactile sensor. The system further includesa network interface, communicatively coupled to the one or moreprocessors, for transmitting the 3D data points to a data analysissystem for estimating the condition of the structure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a property inspection system accordingto one example of the present disclosure;

FIG. 2 is a block diagram of the property inspection system of FIG. 1;

FIG. 3 is a block diagram of a tactile sensor system of FIGS. 1 and 2;

FIG. 4A is a perspective view of a 3D contact scanner and a tactilesensor system according to one aspect of the property inspection systemof the present disclosure;

FIG. 4B is a bottom view of the tactile sensor system of FIG. 4A;

FIG. 4C is a side perspective view of the tactile sensor system of FIG.4B;

FIG. 4D is another side perspective view of the tactile sensor system ofFIG. 4B in contact with and having pressure being applied toward asurface of the structure;

FIG. 5A is a perspective view of a 3D contact scanner and a tactilesensor system according to another aspect of the property inspectionsystem of the present disclosure;

FIG. 5B is a bottom perspective view of the tactile sensor system ofFIG. 5A;

FIG. 5C is a side perspective view of the tactile sensor system of FIG.5A with no pressure being applied toward a surface of a structure;

FIG. 5D is another side perspective view of the tactile sensor system ofFIG. 5A with pressure being applied toward the surface of the structure;

FIG. 6A is a perspective view of a 3D contact scanner and a tactilesensor system according to another aspect of the property inspectionsystem of the present disclosure;

FIG. 6B is a bottom perspective view of the tactile sensor system ofFIG. 6A;

FIG. 6C is a side perspective view of the tactile sensor system of FIG.6A;

FIG. 6D is a side perspective view of the tactile sensor system of FIG.6A in contact with the surface of the structure; and

FIG. 7 is an exemplary flow chart depicting a method of one aspect ofthe present disclosure.

DETAILED DESCRIPTION

Generally, a property inspection system and method for determining thecondition of a physical structure is disclosed. The property inspectionsystem includes one or more three-dimensional (3D) contact scannersadapted to scan a surface of the structure, and at least one tactilesensor system coupled to the one or more 3D contact scanners. Thetactile sensor system includes at least one tactile sensor comprisingone or more of a pinscreen stamp, a roller device having a plurality ofdiscs, and a whisker device having one or more of at least one whiskerand a piezoelectric sensor. The at least one tactile sensor is adaptedto detect 3D information about the surface of the structure by: (1) oneor more of moving, rolling and/or dragging the at least one sensor ofthe tactile sensor system on a physical surface of the structure; and(2) measuring one or more of: (a) resistance to pressure being appliedto at least one point of a plurality of points on the surface of thestructure; or (b) a depth of the at least one point of the plurality ofpoints on the surface of the structure.

Referring now to FIG. 1, a property inspection system 10 of the presentdisclosure is depicted. The property inspection system 10 includes atleast one 3D contact scanner 12 having a base 14, an antenna 15, and atleast one tactile sensor system 18 coupled to the base 14 of the 3Dcontact scanner 12. The 3D contact scanner 12 is disposed on a structure16, in particular a surface 17 of the structure 16, such as a roof, todetermine the condition of the physical structure 16, for example. Inone example, the 3D contact scanner 12 may be held and operated by aperson. In another example, the 3D contact scanner 12 is affixed to aflying device 19, which may be used to position the 3D contact scanner12 onto the surface 17 of the structure 16, e.g., the roof of thestructure 16. While the flying device 19 depicted in FIG. 1 is aballoon, the flying device 19 may alternatively be an airplane, ahelicopter, a projectile, a rocket, or any other device capable offlight, levitation or gliding, and may be tethered via a tether line 24to a base station 22 of a data analysis system 20. In some examples, thetether 24 may provide power to the flying device 19. The tether 24 mayalso provide a communication channel between the flying device 19 andthe base station 20 (and may replace the antennas 15, 23 in certainexamples). In yet another example, the 3D contact scanner 12 may also beaffixed to a remotely controlled device, such as a radio controlleddevice; a device that rolls, drives, crawls, climbs or drives; amechanical apparatus affixed to or near the structure; or a satellite.

The property inspection system 10 may further include a data analysissystem 20 for estimating the condition of the structure 16. The dataanalysis system 20 may include a base station 22 and antenna 23, whichmay be in communication with the antenna 15 of the 3D contact scanner12, as explained more below. Alternatively, the data analysis system 20of the property inspection system may be in communication with the 3Dcontact scanner 12 via a network 26, such as a wireless network. Thenetwork 26 may be a single network, or may include multiple networks ofone or more types (e.g., a public switched telephone network (PSTN), acellular telephone network, a wireless local area network (WLAN), theInternet, etc.). In some examples, the network 26 may include one ormore devices such as computers, servers, routers, modems, switches,hubs, or any other networking equipment.

While the structure 16 depicted in FIG. 1 is a building, which may beresidential, commercial, industrial, agricultural, educational, or ofany other nature, the structure 16 may be any type of construction orobject and still fall with the scope of the present disclosure. Forexample, the structure 16 may alternatively be personal property, suchas a vehicle, boat, aircraft, or furniture.

The property inspection system 10 may be utilized in a number ofsituations, but in the preferred embodiment, a user associated with aninsurance company utilizes the property inspection system 10 for thepurpose of estimating the condition of the structure 16. In one example,an insurance policy-holder may file a claim because the policy-holderbelieves that the structure 16 is damaged. A user (e.g., an insurancecompany or claim adjuster) may then deploy the property inspectionsystem 10 to inspect the structure 16 and estimate the condition of thestructure 16. For example, the property inspection system 10 maydetermine that the roof of the structure 16 is damaged and thencalculate how much it will cost to fix the roof. With regard to avehicle, boat, or aircraft, the property inspection system 106 maydetermine that a body panel, window, frame, or another surfaceassociated with the vehicle, boat, or aircraft is damaged. The propertyinspection system 10 may calculate a cost to fix the body panel, window,frame, or other surface. In other examples, the user may be an appraiserappraising the structure 16 or an inspector inspecting the structure 16.

Referring now to FIG. 2, a block diagram of the property inspectionsystem 10 of FIG. 1 is depicted. More specifically, the propertyinspection system 10 includes the 3D contact scanner 12 that iscommunicably coupled to the data analysis system 20 via the network 26.Alternatively, the 3D contact scanner 12 may be coupled to the dataanalysis system 20 via a direct wired connection. The 3D contact scannerincludes the tactile sensor system 18 that includes at least one tactilesensor 30, a processor 32, a memory 34 and a network interface 36. Incertain examples, the tactile sensor 30 is controlled by the 3D contactscanner 12, as explained more below. The data analysis system 20 alsoincludes a user input interface 40, at least one processor 42, a memory44, and a network interface 46.

In certain examples, the memory 34 of the 3D contact scanner system andthe memory 44 of the data analysis system 20 may include volatile and/ornon-volatile memory and may be removable or non-removable memory. Forexample, the memory 34, 44 may include computer storage media in theform of random access memory (RAM), read only memory (ROM), EEPROM,FLASH memory or other memory technology, CD-ROM, digital versatile disks(DVD) or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information. In addition,the network interface 36, 46 may include an antenna, a port for wiredconnection, or both.

As further depicted in FIG. 2, each of the 3D contact scanner 12 and thedata analysis system 20 may also include a data collection module 38, 48and a data analysis module 39, 49, respectively. In the propertyinspection system 10, the data collection modules 38, 48 and the dataanalysis modules 39, 49 may be in direct wired or wireless communicationwith each other. Furthermore, in other examples, the data collectionmodules 38, 48 and the data analysis module 39, 49 may exist on a singledevice or platform and may share components, hardware, equipment, or anyother resources.

In operation of one example of the property inspection system 10, thedata collection module 38 generates data representing informationdetected by the tactile sensor system 18. The data collection module 38transmits the generated data over the network 26. The data analysismodule 49 receives the generated data from the network 26, where thedata analysis module 49 operates to estimate the condition of thestructure by analyzing the generated data. In some embodiments,estimating the condition of the structure may include comparing thegenerated data to reference data. The reference data may be any type ofdata that can provide a point of comparison for estimating the conditionof the structure. For example, the reference data may represent animage, model, or any previously collected or generated data relating tothe same or a similar structure. The reference data may also representstock images or models unrelated to the scanned structure, that arestored, for example, in the memory 44 of the data analysis system 20.Furthermore, the data analysis module 49 may use the estimate of thecondition of the structure to determine that the structure is damaged,and then may calculate an estimated cost correlated to the extent of thedamage to the structure.

In some embodiments of the property inspection system 10, the datacollection module 38 of the 3D contact scanner 12 wirelessly transmits,and the data analysis module 49 of the data analysis system 20wirelessly receives, the generated data. In one example, the generateddata corresponds to tactile characteristics of the scanned structure, asexplained more below.

In operation of the 3D contact scanner 12, the network interface 36receives data representing a command to collect 3D informationassociated with the structure 16 (e.g., a “3D capture command”). Thenetwork interface 36 transmits the 3D capture command to the processor32, where the 3D capture command data is received. The processor 32 thentransmits a signal instructing the 3D contact scanner 12 to detect 3Dcharacteristics associated with an object. The 3D contact scanner 12scans, such as detects, the structure 16 and generates data representing3D characteristics of the structure 16 (“3D data”) corresponding to thecollected 3D information.

Referring now to FIG. 3, the tactile sensor 30 of the tactile sensorsystem 18 of FIG. 2 may include one or more sensing mechanisms, e.g.,tactile sensors, including a pinscreen stamp 118, a roller device 218, awhisker device 318, or a depth gauge 418, each of which are explained inmore detail below. As one of ordinary skill in the art will appreciate,the tactile sensor system 18 may have at least one tactile sensor 30,any combination of the tactile sensors 30, or all of the tactile sensors30. In one example, the tactile sensor 30 may include only the pinscreenstamp 118. In another example, the tactile sensor may include only theroller device 218, and in yet other examples, the tactile sensor 30 mayinclude only the whisker device 318 or only the depth gauge 418. Instill other example, the at least one tactile sensor 30 includes thepinscreen stamp 118 and the roller device 218. In another example, theat least one tactile sensor includes the pinscreen stamp 118 and thewhisker device 318. In another example, the at least one tactile sensor30 includes the roller device 218 and the whisker device 318. In anotherexample, the at least one tactile sensor 30 includes the pinscreen stamp118 and the depth gauge 418 or the roller device 218 and the depth gauge418. In yet another example, the at least one tactile sensor 30 includesthe pinscreen stamp 118, the roller device 218, the whisker device 318and the depth gauge 418.

Referring now to FIGS. 4A-4D, a 3D contact scanner 112 having a base 114and a tactile sensor system 118 coupled to the base 114 is depicted, thetactile sensor system 118 having at least one tactile sensor 130. Inthis example, the tactile sensor system 118 is a pinscreen stamp 118having a plurality of pins 126. More specifically, the pinscreen stamp118 includes a top portion 122 that includes a plurality of pins 126extending therefrom. When no pressure is applied at or from the topportion 122 in a direction toward the plurality of pins 126 extendingtherefrom, the length of each pin of the plurality of pins 126 isapproximately the same, if not equal, in one example, as depicted inFIG. 4c . However, when pressure is applied to the top surface 122 ofthe pinscreen stamp 118 in a direction of the surface 17 of a structure16, e.g., a roof, and such that the pins of the plurality of pins 126are in contact with the surface 17 (FIG. 4d ), several pins of theplurality of pins will move to match the surface 17. In other words, anycracks, holes, divots, and/or markings 127 on the surface 17 will beidentified because the pins of the plurality of pins 126 will moveand/or adjust to the height of any of the cracks, divots, or markings onthe surface, such that an imprint 128 is formed by the plurality of pins126 of the pinscreen stamp 118.

Said another way, a depth of at least one point of a plurality of points25 (FIG. 1) on the surface 17 of at least part of the structure 16 maybe measured by stamping or pushing the pinscreen stamp 118 onto thesurface 17 of at least part of the structure 16 after the 3D contactscanner 12 is moved to the physical surface 17 of the structure 16. Whenthis occurs, the plurality of pins 126 form an imprint 128 of theplurality of points 25 on the surface 17 of the structure 16. As such,the change in height of at least one pin of the plurality of pins 126measured from a first threshold TH1 (FIGS. 4C and 4D) of the pinscreenstamp 118 when no pressure is applied from when pressure is applied tothe pinscreen stamp 118 corresponds to a depth of at least one point ofthe plurality of points 25 of the surface 17. In another example,stamping and pushing the pinscreen stamp 118 comprises pushing at leastone pin of the plurality of pins 126 into at least one point of theplurality of points 25 on the surface 17 of the structure 16 andtransmitting the imprint 128 corresponding to the plurality of points 25to the processor 32 of the 3D contact scanner 12. As a result, theprocessor 32 identifies a plurality of positions of the plurality ofpins 126 and transmits the information to the data analysis system 20.The data analysis system 20 then generates a 3D model or map of thesurface 17 of the structure 16 based on the positions of the pluralityof pins 126, for example. In another example, the processor 32 of the 3Dcontact scanner 12 generates the 3D model or map of the surface 17 ofthe structure 16 based on the positions of the plurality of pins 126.

More generally, and as one of ordinary skill in the art will appreciate,the 3D contact scanner 112 of the present disclosure may measureresistance to pressure being applied to one or more points of theplurality of points 25 (FIG. 1) via a pin of the plurality of pins ofthe pinscreen stamp 118 or a pin or rod actuator (not shown) of thetactile sensory system 18 to determine the condition of the structure16. More specifically, resistance to pressure being applied to theplurality of points 25 may be measured by first applying pressure to atleast one point of the plurality of points 25 via at least one tactilesensor 130. The tactile sensor 130 may include one or more of thepinscreen stamp 118, a pin of the plurality of pins, or rod of anactuator (not shown) attached to the 3D contact scanner 112. Resistanceto the pressure being applied is measured by the pinscreen stamp 118 orpin and transmitted to the memory 34 of the 3D contact scanner 112, forexample. The measured resistance of at least one point of the pluralityof points 25 is then compared, via the processor 32 of the 3D contactscanner, for example, to a measured resistance for another point of theplurality of points. The comparison helps determine if there is anyindication of loss of strength or lack of strength for at least onepoint of the plurality of points 25 on the surface 17 of the structure18.

In one example, a first pressure is applied to at least one point of theplurality of points 25 via the at least one tactile sensor 30 and theresistance to the pressure applied is measured as a first resistance.Then a second pressure, e.g., a pressure greater than the first pressureapplied, is applied to the at least one point of the plurality of points25 via the at least one tactile sensor 30 and the resistance to thesecond pressure is measured as a second resistance. A comparison, viaone or more processors, e.g., processor 32, of the difference in thefirst resistance measured for the at least one point of the plurality ofpoints to the second resistance measured for the at least another pointof the plurality of points is made. This comparison helps determine ifthere is any indication of a lack of strength for at least one point ofthe plurality of points on the surface of the structure. Still further,the measured first resistance to the first pressure applied to at leastone point of the plurality of points 25 and the measured secondresistance to the second pressure applied to at least one point of theplurality of points 25 may be compared to a threshold resistance of theat least one point of the plurality of points of the undamaged area 25(FIG. 1) on the surface 17 of the structure 16.

In addition, measuring resistance to pressure being applied to theplurality of points 25 may further comprise first calibrating the atleast one tactile sensor 130. Calibration includes first applyingpressure to another plurality of points 25 on a known, undamaged area ofon the surface 17 of the structure 16. For example, the 3D contactscanner 112 first measures a resistance to pressure being applied to atleast one point of the second plurality of points 25 (FIG. 1) and setsthe measured resistance as a threshold resistance TR. The measuredresistance to the pressure applied to at least one point of theplurality of points 25 via the at least one tactile sensor 30 of thetactile sensor system 18 is then compared to the threshold resistance TRof the at least one point of the plurality of points 25 of the undamagedarea on the surface 17 of the structure 16. The comparison helpsdetermine if there is any indication of loss of strength or lackstrength on the surface of the structure 16.

Referring now to FIGS. 5A-5D, another 3D contact scanner 212 accordingto the property inspection system 10 of the present disclosure isdepicted. Like the 3D contact scanner 112 of FIG. 4A, for example, the3D contact scanner 212 includes a base 214 and an antenna 215 removablyattached to a top surface of the base 214. In this example, a tactilesensor system 218 is a roller device 218 that includes at least onetactile sensor 230 and is attached to a bottom surface of the base 214of the 3D contact scanner 212. As depicted in FIG. 5B, a bottom surfaceof the roller device 218 includes a plurality of disks, such as fourdisks 232 that are equally spaced along a circumference of the rollerdevice 218. While four disks 232 are depicted in FIG. 5B, one of skillin the art will appreciate that fewer or more disks 232 mayalternatively be included on the roller device 218 and not depart fromthe scope of the present disclosure.

In operation, the 3D contact scanner 212 having the roller device 218 isfirst moved onto and then rolled across and/or about the physicalsurface 17 of at least part of the structure 16 (FIG. 1). Generally,while being rolled across and/or about the surface 17, the roller device218 applies pressure to the plurality of disks 232 toward the directionof the surface 17 of the structure 16 and then measures resistance tothe pressure being applied to the plurality of points 25 on the surface17. In one example, the roller device 218 measures pressure beingapplied to the plurality of points 25 by first applying a zero pressureto at least one disk 232 of the plurality of disks of the roller device218. The height of at the at least one disk 232 when zero pressure isbeing applied is then measured, which may be a threshold height TH2, asdepicted in FIG. 5C.

After the roller device 218 is calibrated, e.g., a threshold height ismeasured, a first pressure P1 is applied to at least one disk 232 of theroller device 218 toward the direction of the surface 17. The height ofthe at least one disk 232 with the first pressure P1 being applied isthen measured. For example, the height of at least one disk 232 in FIG.5D after the first pressure has been applied is measured as X. Theheight X of the at least one disk 232 after the first pressure P1 hasbeen applied is then compared against the threshold height TH2 of the atleast one disk 232 when no pressure is applied. The comparison helpsdetermine if there is an indication of sponginess or a lack of strengthin a point of the plurality of points 25 in the surface 17 of thestructure, e.g., a shingle. More specifically, the measured height X ofthe at least one disk 232 when a first pressure P1 is applied may besubtracted from the threshold pressure TH2 when zero pressure is appliedto the at least one disk 232 to determine the difference in height Ywhen the two different pressures are applied. Said another way, thedifference in height of at least one disk 232 when no pressure isapplied and when the first pressure is applied is TH2−X=Y, with TH2being the measured height when zero pressure is applied and X being themeasured height when another pressure, such as the first pressure P1, isapplied. This difference in height Y ultimately helps determine whetherthere is a lack of strength at a particular point of the plurality ofpoints on the surface 17 of the structure 16.

In addition, the measured height of at least one disk 232 of theplurality of disks may be different from the measured height of anotherdisk 232 when the same amount of pressure is applied. For example, andas depicted in FIG. 5D, when the first pressure P1 is applied to thedisks 232 of the plurality of disks, the height of the leftmost disk 232of the plurality of disks is one value, such as X, while the height ofthe rightmost disk 232 is a different value, such as A. This is becausethe point or points of the plurality of points 25 on which the pluralityof disks of the roller device 218 are being applied are different foreach disk 232 of the plurality of disks. As a result, there may be moreweakness in the surface 17 at one point of the plurality of points 25than another point of the plurality of points 25, such that the heightsof the disks 232 differ for at least one point of the plurality ofpoints while the same pressure is being applied. As such, in thisexample, the measured height A of the rightmost disk 232 depicted inFIG. 5A is compared against and/or subtracted from the measured heightTH2 of the same disk 232 when zero pressure is applied to determine thedifference in height B. This difference in height B also helps determineif there is a lack of strength and/or weakness at a particular point orat least one point of the plurality of points on the surface 17 of thestructure 16.

While FIG. 5D and the foregoing example explains that a first pressureP1 is applied, one of ordinary skill in the art will understand thatfurther increased pressures may be applied to the at least one disk 232of the plurality of disks to further determine decreased strength and/orsponginess of the surface 17 of the structure 16. For example, a secondincreased pressure P2 may be applied to at least one disk 232 of theplurality of disks and the height of the at least one disk 232 may bemeasured when the second pressure P2 is applied. The measured heights ofthe at least one disk 232 when zero pressure is applied and when thefirst pressure P1 is applied may then be compared to the measured heightof the at least one disk 232 when the second pressure P2 is applied todetermine if there is a lack of strength or sponginess of a point of theplurality of points 25 on the surface 17 of the structure 16.

Referring back to FIG. 5B, in some examples, a camera 236 may bedisposed on a bottom side of the base 214 of the 3D contact scanner 212,adjacent to the roller device 218. During operation of the roller device218, the camera 236 records the movement, such as vertical movementand/or up and down movement of at least one disk 232 of the plurality ofdisks. The vertical movement or up and down movement is then measuredand is indicative of discrete depths of the surface 17, e.g., shingle,of the structure 16 at the plurality of points 25, for example. Saidanother way, the depth of at least one point of the plurality of points25 (FIG. 1) on the surface 17 of the structure is measured after thecamera 236 records the vertical movement of at least one disk 232 of theplurality of disks as the roller device 218 is rolling across and/orbeing dragged across the surface 17 of the structure 16. While thecamera 236 is depicted on the 3D contact scanner 212 of FIG. 5B, one ofordinary skill in the art will appreciate and understand that the camera236 may be disposed on any of the 3D contact scanners 12, 112, 212, 312of the present disclosure and used with any of the tactile sensors 30,130, 230, 330 of the present disclosure and still fall with the scope ofthe present disclosure.

Referring now to FIGS. 6A-6D, another 3D contact scanner 312 accordingto the property inspection system 10 of the present disclosure isdepicted. Like the 3D contact scanner 212 of FIG. 4A, for example, the3D contact scanner 312 includes a base 314 and an antenna 315 removablyattached to a top surface of the base 314. In this example, a tactilesensor system 318 is attached to a bottom surface of the base 314 of the3D contact scanner 312 and includes at least one tactile sensor 330 thatis a whisker device 318. In one example, the whisker device 318 includesat least one whisker 328 having a first end 328 a that is attached to aportion of the whisker device 318, forming a pivot point P. The whisker328 also includes a second end 328 b disposed opposite the first end 328a that is adapted to contact the surface 17 of the structure 16 whilethe whisker device 318 and 3D contact scanner 212 are being draggedacross the surface 17. The whisker device 318 further includes one ormore of a potentiometer 336 or an optical encoder 338 disposed on orcoupled to the whisker device 318.

In operation, the depth of at least one point of the plurality of points25 on the surface 17 of the structure 16 is measured by detecting awhisker angle of at least one whisker 328 at at least one point of theplurality of points 25. The depth of at least one point of the pluralityof points 25 on the surface 17 of the structure 16 is then measuredbased on the detected whisker angle. More specifically, and for example,the whisker angle θ of the at least one whisker 328 is detected bymeasuring one or more of an angle of deflection or an angle of rotationof the at least one whisker 328 of the whisker device 318 from an axis A(FIG. 6C) of the pivot point P of the at least one whisker 328 of thewhisker device 318 by one or more of the potentiometer 336 or theoptical encoder 338. In one example, and referring to FIG. 6C, thewhisker angle θ of the whisker 328 is θ₁ when the whisker device 318 isnot being dragged across the surface 17 of the structure and/or in aposition that is not in contact with any surface of any structure. Asfurther depicted in FIG. 6D, however, when the 3D contact scanner 312with the whisker device 318 is moved to the surface 17 of the structure16 and then dragged across or along at least one point of the pluralityof points 25 of the surface 17 of the structure 16, the whisker angle θ,such as an angle of rotation or an angle of deflection of the at leastone whisker 328, may decrease to θ₂ as the whisker 328 moves down andinto a divot, marking, or damaged area of the surface 17 of thestructure 16 to measure the depth of a point of the plurality of points25.

In yet another example, the whisker device 318 of FIGS. 6A-6D mayalternatively and/or additionally include a piezoelectric sensor 334(FIG. 6B). The piezoelectric sensor 334 generates and measures voltage,if any, on at least one point of the plurality of points 25 on thesurface 17 of the structure 16. The depth of the at least one point ofthe plurality of points 25 is then determined based on the voltagegenerated by the piezoelectric sensor 334.

In one example, the whisker 328 of the whisker device 318 is a wire,such as a metal wire or a plastic wire, and in another example thewhisker 328 is a flange, such as a metal flange or a plastic flange.More specifically, the whisker 328 may include plastic material, such aspolyurethane or any other similar plastic or combination of plasticsthat is able to deflect in response to changes in depth of the surface17 of the structure 16, for example. One of ordinary skill in the artwill further understand that the whisker 328 may comprise any othermaterial similar to the deflective metal or plastic-based wire or flangeand not depart from the scope of the present disclosure.

In yet another example, the tactile sensor system 18 of the 3D contactscanner 12 may further include a depth gauge 418, as depicted in FIG. 3.When the 3D contact scanner 12 is moved to the plurality of points 25 onthe surface 17 of the structure 16, the 3D contact scanner 12 is thendisposed on the plurality of points 25 of the surface 17 of thestructure and dragged across the physical surface 17 of the structure16. As the 3D contact scanner 12 is being dragged across the surface 17,the 3D contact scanner 12 is intermittently stopped at certain points ofthe plurality of points 25 on the surface 17. Each time the 3D contactscanner 12 is stopped, the depth gauge 418 is able to measure the depthof at least one point of the plurality of points 25 to help determinedamage or at least changes to the topography of the surface 17. Thisprocess, e.g., dragging and stopping of the 3D contact scanner 12 havingthe depth gauge 418, is repeated until the depth of a sufficient amountof points of the plurality of points 25 are measured and a topographicalmap of the surface 17 of the structure 16, for example, is able to bebuilt. In one example, one or more of the data collection modules 38, 48and the data analysis modules 39, 49 of the 3D contact scanner and thedata analysis system 20 of the property inspection system 10,respectively, generate the topographical map of the surface 17.

Referring now to FIG. 7, a flow chart of an example method 600 forinspecting and analyzing the condition of a structure is depicted. Themethod 600 may be implemented, in whole or in part, on one or moredevices or systems such as those shown in the property inspection system10 of FIGS. 1 and 2, the tactile sensor system 18 of FIG. 3, the 3Dcontact scanner 112 of FIG. 4A, the scanner 212 of FIG. 5A, or thescanner 312 of FIG. 6A. The method may be saved as a set ofinstructions, routines, programs, or modules on memory such as memory 34of FIG. 2, and may be executed by a processor such as processor 32 ofFIG. 2.

The method 600 begins when a 3D contact scanner 12, 112, 212, 312, isdeployed toward and onto a structure (block 405), such as the structure16 shown in FIG. 1. After deployment, the 3D contact scanner 12, 112,212, 312 detects 3D information by implementing a tactile sensor system18, 118, 218, 318 of the 3D contact scanner 12, 112, 212, 312, onto thesurface 17 of the structure (block 410). Said another way, the 3Dcontact scanner 12, 112, 212, 312 at block 410 detects a point of theplurality of points 25 (FIG. 1), for example, on the surface 17 of thestructure by having the tactile sensor system 18, 118, 218, 318physically contact the surface 17 of the structure. As noted, thestructure may be any kind of building or structure, such as asingle-family home, townhome, condominium, apartment, storefront, orretail space, and the structure may be owned, leased, possessed, oroccupied by an insurance policy holder. The structure may also be any ofthe structure types discussed regarding FIG. 1, such as a vehicle, boat,or aircraft. In such structures, the 3D contact scanner may be used toinspect the body panels, windows, frame, and other surfaces associatedwith the vehicle, boat, or aircraft.

In block 415, the 3D contact scanner 12, 112, 212, 312 with the tactilesensor system 18, 118, 218, 318 is one or more of moved, rolled ordragged onto the physical surface 17 of the structure, such that atleast one tactile sensor 30, 130, 230, 330 of the tactile sensor system18, 118, 218, 318 is moved, rolled or dragged on or onto the physicalsurface 17 of at the structure 16. In block 420, the at least onetactile sensor 30, such as the pinscreen stamp 118 and/or the rollerdevice 218 measure resistance to pressure being applied toward thesurface 17. The 3D contact scanner 12, 112, 212, 312 then generates aplurality of 3D data points based on the measured resistance at block430. In addition or alternatively, after block 415, the depth of atleast one point of the plurality of points 25 on the surface 17 of thestructure 16 is measured. The 3D contact scanner 12, 112, 212, 312 thenagain generates a plurality of 3D data points based on the measuredresistance at block 430. At least one processor, such as the processor32 of the 3D contact scanner 12, 112, 212, 312 determines whether enoughpoints of the plurality of points 25 on the surface 17 of the structure16 have been detected or whether more points need to be detected (block435). If enough points have been detected, a processor 32 of the 3Dcontact scanner 12, 112, 212, 312 constructs a 3D model from thegenerated plurality of 3D data points (block 440). Next the processor 32of the 3D contact scanner 12, 112, 212, 312, for example, may analyzethe 3D model to identify one or more features associated with thestructure 17 and generate an estimate of the structure condition (block445). In addition or alternatively, the data analysis module 39 of the3D contact scanner 12, 112, 212, 312 or the data analysis module 49 ofthe data analysis system 20 may also analyze the 3D model to identifythe one or more features associated with the structure 17 (block 445).

If, however, at block 435, it is determined that more points need to bedetected, the 3D contact scanner 12, 112, 212, 312 detects more 3Dinformation by implementing the tactile sensor system 18, 118, 218, 318of the 3D contact scanner 12, 112, 212, 312 again onto the surface 17 ofthe structure 16 (block 410). Then once again, the 3D contact scanner12, 112, 212, 312 with the tactile sensor system 18, 118, 218, 318 isone or more of moved, rolled or dragged onto the physical surface 17 ofthe structure, such that at least one tactile sensor 30, 130, 230, 330of the tactile sensor system 18, 118, 218, 318 is moved, rolled ordragged on or onto the physical surface 17 of at the structure 16 (block415). The process of blocks 415, 420 and/or 425 and 430 described abovecontinue until it is determined at block 435 that enough points havebeen detected. The process of blocks 440 and 445, as described above,then continue to ultimately generate an estimate of the condition of thestructure 16 based on the plurality of 3D data points generated by the3D contact scanner 12, 112, 212, 312.

In one example operation of the tactile sensor 30, 130, 230, 330 of the3D contact scanner 12, 112, 212, 312, the tactile sensor 30, 130, 230,330 receives a signal from the 3D contact scanner 12, 112, 212, 312instructing the tactile sensor 30, 130, 230, 330 to detect topographicalfeatures associated with a surface (“tactile capture signal”). Thetactile sensor 30, 130, 230, 330 receives the tactile capture signal andthe tactile sensor 30, 130, 230, 330 is exposed to a surface associatedwith the structure 16. The tactile sensor 30, 130, 230, 330 generatestactile data representing at least some of the shapes and features ofthe surface that the tactile sensor 30, 130, 230, 330 was exposed to.The 3D contact scanner 12, 112, 212, 312 then uses the tactile data togenerate 3D data. Alternatively, the tactile sensor 30, 130, 230, 330may transmit the tactile data to the memory 34, 44 where the tactiledata is stored.

In alternative examples of the property inspection system 10, thetactile capture signal may be received from the processor 32 (FIG. 2) ofthe 3D contact scanner 12, for example, wherein the respective signalwas generated in response to a capture command received by the processor32 from the network interface 36, or the input interface 31. Likewise,the processor 32 may also operate to transmit the tactile data, or 3Ddata, to the network interface 36 to be transmitted to another device orsystem.

In operation of the property inspection system 10, the 3D contactscanner 12, 112, 212, 312 is deployed on a surface associated with thestructure 16. The 3D contact scanner 12, 112, 212, 312 comes intocontact with the surface and moves, e.g., rolls, drags, pulls. At leastone tactile sensor 30, 130, 230, 330 internal or external to the 3Dcontact scanner 12, 112, 212, 312 detects the imprinted texture. The 3Dcontact scanner 12, 112, 212, 312 generates tactile data representingthe imprinted texture uses the tactile data to generate 3D data. Inanother example, the antenna 15, 115, 215, 315 of the 3D contact scanner12, 112, 212, 312 may transmit the 3D data to the antenna 23 of the basestation 20 (FIG. 2).

In addition, the network interface 36 (FIG. 2) receives 3D data pointscorresponding to a structure such as the structure 16 shown in FIG. 1.The network interface 36 transmits the received data to the memory 34.The processor 32 accesses the memory 34 to generate a first 3D model ofthe structure based on the 3D data points, wherein the edges andvertices associated with the model are derived from the 3D data points.The processor 32 may then make one or more comparisons between the first3D model and one or more second models. The second models may representpreviously received data relating to the same structure, or they mayrepresent previously received data relating to similar structures.Alternatively, the second models may have been created specifically forthe purpose of estimating the condition of a structure and may notrelate to any actual physical structure. Based on the one or morecomparisons, the processor 32 generates an estimate of the condition ofthe structure. The estimate of the condition of the structure is savedto the memory 34. In some embodiments, network interface 36 may receive2D image data or 2D-3D combination image data and may transmit the datato the memory 34. The processor 32 may identify features with the 2Dimages and/or 2D-3D combination images and may generate the estimate ofthe condition of the structure in accordance with the identifiedfeatures.

In further operation of the property inspection system 10, the processor32 may determine, based on the generated estimate, that the structure 16has been damaged. The processor 32 may then operate to calculate (basedon the condition of the structure and data relating to costs such ascost of supplies, materials, components and labor) an estimatedfinancial cost associated with the damage. The estimated financial costis then saved to the memory 34. A video interface (not shown) may beused to display: the first 3D model, any of the one or more secondmodels, the estimate of the condition of the structure, or the estimatedfinancial cost.

In alternative embodiments of the property inspection system 10, thereceived data may also represent topographical maps, which may bedisplayed via the video interface (not shown). The received data maythen be used to generate a 3D model. Alternatively, the received datamay be compared to reference topographical maps to estimate thecondition of the structure.

Overall, one of ordinary skill in the art will appreciate the variousadvantages of the property inspection system 10 of the presentdisclosure. For example, the property inspection system 10 of thepresent disclosure is able to accurately detect 3D information about thesurface of the structure using at least one tactile sensor 30, 130, 230,330. By physically contacting the surface of the damaged structure, theat least one tactile sensor 30, 130, 230, 330 is able to provide moreaccurate information about the surface, unlike 2D and 3D scanningmethods involving ultrasonic scanning or radar detection, for example.Unlike those 2D and 3D scanning methods that do not require physicalcontact between a 3D contact scanner and the surface of the structure,the present invention requires such physical contact, and, therefore,any sunlight or lack thereof does not affect the accuracy of theinformation detected by the tactile sensors 30, 130, 230, 330, forexample. As a result, significantly more accurate 3D information aboutthe surface of the structure is able to be detected by at least onetactile sensor 18, 118, 218, 318, ultimately resulting in a moreaccurate estimate or appraisal of the structure by the propertyinspection system 10.

Still further, the present disclosure also does not require anyjelly-like conductor or any other substrate be first applied to thesurface of the structure in order to detect 3D information about thestructure. Because such a substrate is not required, there is, ofcourse, no further requirement to remove such a substrate after 3Dscanning or detection. This ultimately makes the process and system 10of the present disclosure less messy and costly than other 2D and 3Dscanning methods using such substrates or jelly-like sound conductors toget information about the structure surface.

The following additional considerations apply to the foregoingdiscussion. Throughout this specification, plural instances mayimplement components, operations, or structures described as a singleinstance. Although individual operations of one or more methods areillustrated and described as separate operations, one or more of theindividual operations may be performed concurrently, and nothingrequires that the operations be performed in the order illustrated.Structures and functionality presented as separate components in exampleconfigurations may be implemented as a combined structure or component.Similarly, structures and functionality presented as a single componentmay be implemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Discussions herein referring to an “appraiser,” “inspector,” “adjuster,”“claim representative” or the like are non-limiting. One skilled in theart will appreciate that any user associated with an insurance companyor an insurance function may utilize one or more of the devices,systems, and methods disclosed in the foregoing description. One skilledin the art will further realize that any reference to a specific jobtitle or role does not limit the disclosed devices, systems, or methods,or the type of user of said devices, systems, or methods.

Certain implementations are described herein as including logic or anumber of components, modules, or mechanisms. Modules may constituteeither software modules (e.g., code implemented on a tangible,non-transitory machine-readable medium such as RAM, ROM, flash memory ofa computer, hard disk drive, optical disk drive, tape drive, etc.) orhardware modules (e.g., an integrated circuit, an application-specificintegrated circuit (ASIC), a field programmable logic array(FPLA)/field-programmable gate array (FPGA), etc.). A hardware module isa tangible unit capable of performing certain operations and may beconfigured or arranged in a certain manner. In example implementations,one or more computer systems (e.g., a standalone, client or servercomputer system) or one or more hardware modules of a computer system(e.g., a processor or a group of processors) may be configured bysoftware (e.g., an application or application portion) as a hardwaremodule that operates to perform certain operations as described herein.

Unless specifically stated otherwise, discussions herein using wordssuch as “processing,” “computing,” “calculating,” “determining,”“presenting,” “displaying,” or the like may refer to actions orprocesses of a machine (e.g., a computer) that manipulates or transformsdata represented as physical (e.g., electronic, magnetic, or optical)quantities within one or more memories (e.g., volatile memory,non-volatile memory, or a combination thereof), registers, or othermachine components that receive, store, transmit, or displayinformation.

As used herein any reference to “one implementation,” “one embodiment,”“an implementation,” or “an embodiment” means that a particular element,feature, structure, or characteristic described in connection with theimplementation is included in at least one implementation. Theappearances of the phrase “in one implementation” or “in one embodiment”in various places in the specification are not necessarily all referringto the same implementation.

Some implementations may be described using the expression “coupled”along with its derivatives. For example, some implementations may bedescribed using the term “coupled” to indicate that two or more elementsare in direct physical or electrical contact. The term “coupled,”however, may also mean that two or more elements are not in directcontact with each other, but yet still co-operate or interact with eachother. The implementations are not limited in this context.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a process,method, article, or apparatus that comprises a list of elements is notnecessarily limited to only those elements but may include otherelements not expressly listed or inherent to such process, method,article, or apparatus. Further, unless expressly stated to the contrary,“or” refers to an inclusive or and not to an exclusive or. For example,a condition A or B is satisfied by any one of the following: A is true(or present) and B is false (or not present), A is false (or notpresent) and B is true (or present), and both A and B are true (orpresent).

In addition, use of the “a” or “an” are employed to describe elementsand components of the implementations herein. This is done merely forconvenience and to give a general sense of the invention. Thisdescription should be read to include one or at least one and thesingular also includes the plural unless it is obvious that it is meantotherwise.

Upon reading this disclosure, those of skill in the art will appreciatestill additional alternative structural and functional designs for asystem and a process for inspecting a structure to estimate thecondition of a structure through the disclosed principles herein. Thus,while particular implementations and applications have been illustratedand described, it is to be understood that the disclosed implementationsare not limited to the precise construction and components disclosedherein. Various modifications, changes and variations, which will beapparent to those skilled in the art, may be made in the arrangement,operation and details of the method and apparatus disclosed hereinwithout departing from the spirit and scope defined in the appendedclaims.

We claim:
 1. A computer-implemented method of inspecting a structure,the method comprising: deploying one or more three-dimensional (3D)contact scanners to scan a structure; detecting 3D information about thestructure by implementing a tactile sensor system of the one or more 3Dcontact scanners across a surface of at least part of the structure, thetactile sensor system including at least one tactile sensor, the atleast one tactile sensor including a pinscreen stamp, whereinimplementing the tactile sensor system includes measuring one or moreof: (1) resistance to pressure being applied to at least one point of aplurality of points on the surface of at least part of the structure viathe at least one tactile sensor; or (2) a depth of at least one point ofthe plurality of points on the surface of the at least part of thestructure via the at least one tactile sensor; and generating, at theone or more 3D contact scanners, a plurality of 3D data points, whereinat least one point of the plurality of 3D data points corresponds to atleast one point of the plurality of points on the surface of thestructure detected by the at least one tactile sensor.
 2. The method ofclaim 1, further comprising one or more of: (1) causing a processorcommunicatively connected to a memory to generate an estimation of thecondition of the structure based on the plurality of 3D data points, thememory communicatively connected to the one or more 3D contact scanners;or (2) causing a processor communicatively connected to the memory toconstruct a 3D model from the generated plurality of 3D data points andanalyze the 3D model to identify one or more features associated withthe structure.
 3. The method of claim 1, wherein measuring resistance topressure being applied to a plurality of points on the surface of atleast part of the structure comprises applying pressure to at least onepoint of the plurality of points via the at least one tactile sensor,measuring a resistance to the pressure applied to at least one point ofthe plurality of points via the at least one tactile sensor, andcomparing, via one or more processors, the difference in a firstresistance measured for the at least one point of the plurality ofpoints to a second resistance measured for at least another point of theplurality of points to determine if there is an indication of lack ofstrength for at least one point of the plurality of points on thesurface of the structure.
 4. The method of claim 1, wherein measuring adepth of a plurality of points on the surface of at least part of thestructure comprises stamping the pinscreen stamp on the surface of atleast part of the structure, the pinscreen stamp having a plurality ofpins forming an imprint of the plurality of points on the surface of atleast part of the structure, such that a difference in height of atleast one pin of the plurality of pins on the imprint measured from afirst threshold TH1 of the pinscreen stamp when no pressure is appliedfrom when pressure is applied to the pinscreen stamp corresponds to adepth of at least one point of the plurality of points.
 5. The method ofclaim 4, wherein stamping the pinscreen stamp comprises extending atleast one pin of a plurality of pins of the pinscreen stamp into atleast one point of the plurality of points of the surface of thestructure, identifying a plurality of positions of the plurality ofpins, and generating a 3D model or map of the surface of the structurebased on the positions of the plurality of pins.
 6. Acomputer-implemented method of inspecting a structure, the methodcomprising: deploying one or more three-dimensional (3D) contactscanners to scan a structure; detecting 3D information about thestructure by implementing a tactile sensor system of the one or more 3Dcontact scanners across a surface of at least part of the structure, thetactile sensor system including at least one tactile sensor, the atleast one tactile sensor including a roller device having a plurality ofdisks, wherein implementing the tactile sensor system includes measuringone or more of: (1) resistance to pressure being applied to at least onepoint of a plurality of points on the surface of at least part of thestructure via the at least one tactile sensor; or (2) a depth of atleast one point of the plurality of points on the surface of the atleast part of the structure via the at least one tactile sensor; andgenerating, at the one or more 3D contact scanners, a plurality of 3Ddata points, wherein at least one point of the plurality of 3D datapoints corresponds to at least one point of the plurality of points onthe surface of the structure detected by the at least one tactilesensor.
 7. The method of claim 6, wherein measuring resistance topressure being applied to a plurality of points comprises: (1) applyingzero pressure to at least one disk of the roller device and measuring aheight of the at least one disk with zero pressure being applied; (2)applying a first pressure to the at least one disk toward the pluralityof points and measuring the height of the at least one disk with thefirst pressure being applied; and (3) comparing the measured heights ofthe at least one disk when each of the zero pressure and the firstpressure are applied to determine if there is a lack of strength at atleast one point of the plurality of points on the surface of thestructure.
 8. The method of claim 6, wherein measuring a depth of aplurality of points on the surface of at least part of the structurecomprises recording at least one vertical movement of at least one diskof the roller device relative to the surface of the structure via acamera and measuring the vertical movement of the at least one disk fromthe surface of the structure at at least one point of the plurality ofpoints.
 9. The method of claim 6, further comprising one or more of: (1)causing a processor communicatively connected to a memory to generate anestimation of the condition of the structure based on the plurality of3D data points; and (2) causing a processor communicatively connected tothe memory to construct a 3D model from the generated plurality of 3Ddata points and analyze the 3D model to identify one or more featuresassociated with the structure.
 10. A computer-implemented method ofinspecting a structure, the method comprising: deploying one or morethree-dimensional (3D) contact scanners to scan a structure; detecting3D information about the structure by implementing a tactile sensorsystem of the one or more 3D contact scanners across a surface of atleast part of the structure, the tactile sensor system including atleast one tactile sensor, the at least one tactile sensor including awhisker device, wherein implementing the tactile sensor system includesmeasuring one or more of: (1) resistance to pressure being applied to atleast one point of a plurality of points on the surface of at least partof the structure via the at least one tactile sensor; or (2) a depth ofat least one point of the plurality of points on the surface of the atleast part of the structure via the at least one tactile sensor; andgenerating, at the one or more 3D contact scanners, a plurality of 3Ddata points, wherein at least one point of the plurality of 3D datapoints corresponds to at least one point of the plurality of points onthe surface of the structure detected by the at least one tactilesensor.
 11. The method of claim 10, further comprising dragging at leastone whisker of the whisker device, and wherein measuring a depth of aplurality of points on the surface of the at least part of the structurevia the at least one tactile sensor comprises detecting a whisker angleof the at least one whisker at at least one point of the plurality ofpoints on the structure and determining the depth of at least one pointof the plurality of points based on the detected whisker angle, whereindetecting a whisker angle comprises detecting one or more of an angle ofdeflection or an angle of rotation of the at least one whisker of thewhisker device from an axis of a pivot point of the at least onewhisker.
 12. The method of claim 10, further comprising dragging atleast one whisker of the whisker device, and wherein measuring a depthof a plurality of points on the surface of the at least part of thestructure comprises measuring a voltage, if any, generated by apiezoelectric sensor of the whisker device at at least one point of theplurality of points on the surface of the at least part of the structureand determining a depth of at least one point of the plurality of pointsbased on the voltage generated by the piezoelectric sensor.
 13. Themethod of claim 10, further comprising one or more of: (1) causing aprocessor communicatively connected to a memory to generate anestimation of the condition of the structure based on the plurality of3D data points; or (2) causing a processor communicatively connected tothe memory to construct a 3D model from the generated plurality of 3Ddata points and analyze the 3D model to identify one or more featuresassociated with the structure.
 14. A property inspection system fordetermining the condition of a physical structure, the propertyinspection system comprising: one or more 3D contact scanners adapted toscan a surface of a structure; at least one tactile sensor systemcoupled to the one or more 3D contact scanners, the tactile sensorsystem including at least one tactile sensor having one or more of apinscreen stamp, a roller device having a plurality of disks, or awhisker device; one or more processors for generating 3D data pointscorresponding to the 3D information detected by the tactile sensorsystem; and a memory, communicatively coupled to the one or more 3Dcontact scanners, for storing the 3D data points generated by the one ormore processors and the 3D information detected by the at least onetactile sensor.
 15. The system of claim 14, wherein the at least onetactile sensor comprises the roller device, the roller device includinga plurality of disks adapted to contact the physical surface of thestructure, such that when zero pressure is applied to at least one diskof the plurality of disks in the direction of the surface of thestructure, the height of the at least one disk of the plurality of disksis measured from a top surface of the structure to define a threshold,and when a first pressure is applied to the at least one disk of theplurality of disks in the direction of the surface of the structure, theheight of the at least one disk of the plurality of disks is measuredfrom the top surface of the structure and compared to the threshold. 16.The system of claim 14, wherein the at least one tactile sensorcomprises the whisker device, the at least one whisker of the whiskerdevice comprising a whisker having a pivot point, such that one or moreof an angle of deflection or an angle of rotation of the at least onewhisker from an axis of the pivot point is detected to measure a depthof at least one point of the plurality of points on the surface of atleast part of the structure.
 17. The system of claim 14, wherein the atleast one tactile sensor comprises the whisker device, the whiskerdevice comprising a piezoelectric sensor, such that a voltage generated,if any, by the piezoelectric sensor at at least one point of theplurality of points on the surface of the structure is measured todetermine a depth of at least one point of the plurality of points. 18.The system of claim 14, wherein the tactile sensor system furthercomprises a depth gauge, the depth gauge adapted to be dragged acrossthe physical surface of the at least part of the structure and measure adepth of at least one point of a plurality of points on the physicalsurface of the structure.
 19. The system of claim 14, wherein the atleast one tactile sensor comprises the pinscreen stamp, the pinscreenstamp having a plurality of pins adapted to form an imprint of aplurality of points on the surface of the structure when pressure isapplied to the pinscreen stamp in the direction of the surface of thestructure.
 20. The system of claim 14, wherein the at least one tactilesensor is adapted to detect 3D information about the surface of thestructure by: (1) one or more of moving, rolling, or dragging the atleast one sensor of the tactile sensor system on a physical surface ofthe structure; and (2) measuring one or more of: (a) resistance topressure being applied to at least one point of a plurality of points onthe surface of the structure; or (b) a depth of the at least one pointof the plurality of points on the surface of the structure.